• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Korean Institute of Interior Design Journal
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• v.20 no.4
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• pp.101-108
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• 2011

When observing an object in a space, a part of it is remembered into our perception in the time for paying attention or conscious observation and it reaches to our visual understanding. In this study, it examined characteristics by each subject through the process of visual understanding by changes in such observation time. The results from this study are summarized as belows: First, through analysis of the observation data focused on the distance between the observed points, it was able to apply those visual theories organized before to the analysis of characteristics of the time for understanding by each subject. Second, there showed big differences in the time for visual understanding by each subject according to changes in the observation time so that it was found that there were big differences according to the characteristics of subject's intention or purpose of the observation of a space. Third, as the number of continuous observation gives an important clue in judgement of how well the space was understood, it was able to compare and organize the mutual characteristics of the time the attention was concentrated, the time observed intentionally and the time understood visually. Fourth, it was found that the shorter subjects gave the intentional observation in observing a space, the longer they spent the time for paying attention, while the less they could understand it visually.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.11
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• pp.126-134
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• 1997

In this study, We made visual inspection system using Vision Board. It is consist of an illuminator (a fluorescent lamp), image input device (CCD (Charge-Coupled Device) camera), image processing system(Vision Board(FARAMVB-02)), image output device (video monitor, printer), and a measuring instrument(TELMN1000). Length measurement by visual inspection system make use of 100mm guage block(instead of calculating distance between a camera and a object). It measured horizontal and vertical length factor from 400mm to 650mm by increasing 50mm. In this place, measured horizontal and vertical length factor made use of length measure- ment of a injection. A measuring instrument used to ompare a measured length of a injection visual inspection system with it. In conclusion, length measurement of a injection compared a measuring instrument with visual inspecion system using length factor of 100mm gauge block. We find that maximum error of length is 0.55mm when it compar with the measuring value of two devices(FARAMVB-02, TELMN1000). Program of visual inspection system is made up Borland C++3.1.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.7
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• pp.2633-2648
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• 2015

The problem of visual words' synonymy and ambiguity always exist in the conventional bag of visual words (BoVW) model based object category methods. Besides, the noisy visual words, so-called "visual stop-words" will degrade the semantic resolution of visual dictionary. In view of this, a novel bag of visual words method based on PLSA and chi-square model for object category is proposed. Firstly, Probabilistic Latent Semantic Analysis (PLSA) is used to analyze the semantic co-occurrence probability of visual words, infer the latent semantic topics in images, and get the latent topic distributions induced by the words. Secondly, the KL divergence is adopt to measure the semantic distance between visual words, which can get semantically related homoionym. Then, adaptive soft-assignment strategy is combined to realize the soft mapping between SIFT features and some homoionym. Finally, the chi-square model is introduced to eliminate the "visual stop-words" and reconstruct the visual vocabulary histograms. Moreover, SVM (Support Vector Machine) is applied to accomplish object classification. Experimental results indicated that the synonymy and ambiguity problems of visual words can be overcome effectively. The distinguish ability of visual semantic resolution as well as the object classification performance are substantially boosted compared with the traditional methods.

• Korean Institute of Interior Design Journal
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• v.23 no.4
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• pp.111-119
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• 2014

This papers is to find out the design theory of total healing environment through the studies on the mutually complementary roles of proxemics, which is the objective and numerical design indicator in the analysis of space and the spacial expression theory, which is the subjective and intuitive design indicator. 3 factors in the elements of total healing environment have the following relationship. And 8 behavioral affordance factors in the elements of spatial expression have the following mutual relationships; The physical factor of total healing environment has the relation with the work&study(+) and circulation(+), the psychological factor has the relationship with the rest(-),visual sequence(-),social exchange(+),refreshment(-) and meditation(-). In addition, the social factor of total healing environment has the relation with the circulation(+),social exchange(+) and community(+). And the work&study(+) and rest(-) of the refuge have the relation with the intimate distance and personal distance, the circulation (+) and visual sequence (-) of the flow has the relationship with the social distance. In addition, the social exchange (+) and the refreshment (-) of the prospect have the relation with the near public distance and the community (+) and meditation (-) of the void have the relation with the far public distance. According to the analysis, the cases in 5 children hospital were studied and the characteristics of total healing environment was evaluated for the spatial proxemics.

• International Journal of Computer Science & Network Security
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• v.21 no.5
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• pp.243-255
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• 2021

This study aimed to identify the effectiveness of the use of distance-evaluation tools and methods among students with learning difficulties from the teachers' point of view, to achieve this goal. A scale was built, and the psychometric characteristics were validated. It consisted, in its final form, of 17 items distributed on four axes, in addition to three open questions. It was applied to a random sample of (149) teachers of students with learning difficulties in Makkah Region. The results showed that teachers' keenness to encourage students with learning difficulties, so that they would not feel frustrated with the distance learning process. It was also evident that teachers did not use achievement portfolios in the evaluation process. In connection with the appropriate evaluation methods, the majority indicated the use of work sheets and visual evaluation methods that rely on audio and visual skills, such as presenting videos, pictures, audio and games, and applying short objective tests. Among the proposals to improve evaluation methods and tools: Individual evaluation, attention to individual treatment, obligating personal attendance of students to school, splitting the required tasks, and not increasing the skills required to be mastered. As for the obstacles that teachers face: Lack of time, difficulty in communicating with students with distance learning difficulties and problems related to the Internet such as interruption, weakness, or lack of availability.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.6
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• pp.1010-1019
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• 1994

It is shown that there exists a nonlinear mapping which transforms image features and their changes to the desired camera motion without measuring of the relative distance between the camera and the object. This nonlinear mapping can eliminate several difficulties occurring in computing the inverse of the feature Jacobian as in the usual feature-based visual feedback control methods. Instead of analytically deriving the closed form of this mapping, a Fuzzy Membership Function-based Neural Network (FMFNN) incorporating a Fuzzy-Neural Interpolating Network is used to approximate the nonlinear mapping. Several FMFNN's are trained to be capable of tracking a moving object in the whole workspace along the line of sight. For an effective implementation of the proposed FMF network, an image feature selection process is investigated. Finally, several numerical examples are presented to show the validity of the proposed visual servoing method.

• 한국정보디스플레이학회:학술대회논문집
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• 2006.08a
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• pp.1306-1310
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• 2006

We conducted visual perception experiments to determine the perception limits of motion blur based on human visual system at LCD TV's moving pictures. The motion blur can be expressed Blurred Edge Width (BEW). The results showed that the BEW of moving pictures should be below 3.4pixels (visual angle 4.2') at 3H distance in a living room environment.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.369-375
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• 2008

The kinematics and control problem of a visual alignment system is investigated, which plays a crucial role in the fabrication process of flat panel displays. The first solution is the inverse kinematics of a 4PPR parallel alignment mechanism. It determines the driving distance of each joint to compensate the misalignment between mask and panel. Second, an efficient vision algorithm for fast alignment mark recognition is suggested, where by extracting essential feature points to represent the geometry of a mark, the geometric template matching enables much faster object recognition comparing with the general template matching. Finally, the overall visual alignment process including the kinematic solution, vision algorithm, and joint control is implemented and experimental results are given.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.25-29
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• 1997

In this thesis, we construct the microrobot succor system and navigate the real-time path planning and visual tracking of each robot. The system consists robots, vision system and a host computer. Because the robots are free-ranging mobile robot, it is needed to make and gallow the path. The path is planned and controlled by a host computer, ie. Supervisory control system. In path planning, we suggest a cost function which consists of three terms. One is the smoothness of the path, another is the total distance or time, and the last one is to avoid obstacles. To minimize the cost function, we choose the parametric cubic spline and update the coefficients in real time. We perform the simulation for the path planing and obstacle avoidance and real experiment for visual tracking